WO2023284326A1 - 基站和清洁机器人系统 - Google Patents

基站和清洁机器人系统 Download PDF

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Publication number
WO2023284326A1
WO2023284326A1 PCT/CN2022/082061 CN2022082061W WO2023284326A1 WO 2023284326 A1 WO2023284326 A1 WO 2023284326A1 CN 2022082061 W CN2022082061 W CN 2022082061W WO 2023284326 A1 WO2023284326 A1 WO 2023284326A1
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WIPO (PCT)
Prior art keywords
base station
cleaning robot
guide
cleaning
base
Prior art date
Application number
PCT/CN2022/082061
Other languages
English (en)
French (fr)
Inventor
李行
段传林
杨志敏
Original Assignee
北京石头世纪科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 北京石头世纪科技股份有限公司 filed Critical 北京石头世纪科技股份有限公司
Priority to AU2022312516A priority Critical patent/AU2022312516A1/en
Priority to EP22840971.0A priority patent/EP4368090A1/en
Publication of WO2023284326A1 publication Critical patent/WO2023284326A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/02—Floor surfacing or polishing machines
    • A47L11/10—Floor surfacing or polishing machines motor-driven
    • A47L11/14—Floor surfacing or polishing machines motor-driven with rotating tools
    • A47L11/145—Floor surfacing or polishing machines motor-driven with rotating tools with supply of cleaning agents
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4072—Arrangement of castors or wheels
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4088—Supply pumps; Spraying devices; Supply conduits
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/12—Brushes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/16—Rigid blades, e.g. scrapers; Flexible blades, e.g. wipers
    • B08B1/165—Scrapers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/026—Refilling cleaning liquid containers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/028—Refurbishing floor engaging tools, e.g. cleaning of beating brushes

Definitions

  • the present disclosure relates to the technical field of smart home, and in particular to a base station and a cleaning robot system.
  • the current base station usually requires the cleaning robot to actively move to a suitable position of the base station, so as to realize maintenance operations of the cleaning robot by the base station, such as charging, water replenishment, and cleaning.
  • maintenance operations of the cleaning robot by the base station such as charging, water replenishment, and cleaning.
  • the ground is wet and slippery, it will affect the climbing operation of the cleaning robot.
  • An embodiment of the first aspect of the present disclosure provides a base station for maintenance of a cleaning robot.
  • the base station includes: a base station body and a base station base plate provided with a slope portion inclined upward from back to front; wherein the base base base plate includes a base plate and In the extension board, the front end of the substrate is connected with the base station body, and the rear end of the substrate is connected with the extension board.
  • the extension board is pivotally connected to the base board, and the extension board includes a folded state and an unfolded state relative to the base board.
  • the bottom of the base plate is provided with a receiving groove, and the extension board is accommodated in the receiving groove when it is in a folded state.
  • the extension board and the base plate are respectively provided with a first anti-slip portion and a second anti-slip portion for the cleaning robot walking equipment to pass through.
  • the first anti-slip portion is symmetrically disposed on the extension plate, and the second anti-slip portion is symmetrically disposed on the base plate.
  • an avoidance groove is provided on the base plate, and the avoidance groove is arranged between the second anti-slip parts for accommodating part of the cleaning robot when the cleaning robot passes through the bottom plate of the base station.
  • support wheels are provided on both sides of the avoidance groove, and the support wheels are used to support the cleaning robot when passing or stopping on the bottom plate of the base station.
  • the rear end of the extension board is provided with a concave structure for the walking equipment of the cleaning robot to pass through.
  • the recessed structure is located in the middle of the rear end of the extension plate.
  • a first guide surface is provided along the circumference of the concave structure, and the first guide surface is inclined from inside to outside.
  • the base station body is provided with a guiding part above the substrate for contacting with the cleaning robot.
  • the base station body is provided with a guide top surface opposite to the substrate, and the guide parts are arranged at the middle and/or both sides of the middle part of the guide top surface.
  • the guide portion is disposed on the front end of the guide top surface.
  • the guide part includes a guide block, the side of the guide block facing the substrate is provided as a first slope, and the first slope slopes downward from back to back.
  • the guide part includes a guide wheel, and the guide wheel rotates along an axis perpendicular to the front-rear direction of the base station.
  • a mounting frame is provided on the top surface of the guide, and the guide wheel is mounted to the mounting frame through a rotating shaft.
  • An embodiment of the second aspect of the present disclosure provides a cleaning robot system, including: a cleaning robot; and the base station according to any one of the first aspect, and the cleaning robot is suitable for docking on the base station.
  • FIG. 1 is a schematic structural diagram of a cleaning robot system according to an embodiment of the present disclosure
  • FIG. 2 is a schematic structural diagram of a cleaning robot according to an embodiment of the present disclosure
  • Fig. 3 is a structural schematic diagram of a viewing angle of the embodiment shown in Fig. 2;
  • Fig. 4 is a partial exploded schematic diagram of the embodiment shown in Fig. 3;
  • FIG. 5 is a schematic structural diagram of a base station according to a first embodiment of the present disclosure.
  • Fig. 6 is a schematic structural diagram of an extended board relative to a base plate according to an embodiment of the present disclosure
  • FIG. 7 is a schematic structural view of an extension board in a folded state relative to a base plate according to an embodiment of the present disclosure
  • Fig. 8 is a partial structural schematic diagram of a viewing angle of the embodiment shown in Fig. 7;
  • Fig. 9 is a partial structural schematic diagram of another viewing angle of the embodiment shown in Fig. 7;
  • Fig. 10 is a partial structural schematic diagram of a viewing angle of the embodiment shown in Fig. 6;
  • Fig. 11 is a partial structural schematic diagram of the embodiment shown in Fig. 1;
  • Fig. 12 is a schematic structural diagram of a cleaning robot according to yet another embodiment of the present disclosure.
  • FIG. 13 is a schematic structural diagram of a base station according to an embodiment of the present disclosure.
  • FIG. 14 is a partially enlarged schematic view of A in the embodiment shown in FIG. 13 .
  • 10 cleaning robot 110 machine main body, 111 forward part, 112 backward part, 120 perception system, 121 determination device, 122 buffer, 130 control module, 140 driving system, 141 driving wheel module, 142 driven wheel, 150 cleaning system , 151 dry cleaning system, 152 side brush, 153 wet cleaning system, 1531 cleaning head, 1532 driving unit, 1533 driving platform, 1534 supporting platform, 160 energy system, 170 human-computer interaction system, 180 runner, 20 base station, 210 Base plate, 211 inclined part, 2111 avoidance groove, 2112 support wheel, 212 concave structure, 2121 first guide surface, 214 base plate, 2141 accommodation groove, 2142 second anti-slip part, 2143 support part, 215 extension plate, 2151 first anti-slip Part, 216 cleaning tank, 217 plane part, 218 pivot shaft, 2191 first track, 2192 second track, 220 base station body, 221 guide part, 222 guide pressure block, 2221 first slope, 223 guide wheel, 224 guide top surface , 225 guide side, 2251 side surface
  • an embodiment of the present disclosure provides a base station 20 and a cleaning robot system, wherein, as shown in FIG. 1 , the cleaning robot system includes a cleaning robot 10 and a base station 20, that is, the base station 20 The cleaning robot 10 is used in conjunction.
  • the cleaning robot 10 may include a machine body 110 , a perception system 120 , a control module 130 , a driving system 140 , a cleaning system 150 , an energy system 160 and a human-computer interaction system 170 .
  • the cleaning robot 10 may be a self-moving cleaning robot or other cleaning robots meeting requirements.
  • a self-moving cleaning robot is a device that automatically performs cleaning operations in a certain area to be cleaned without user operation. Wherein, when the self-mobile cleaning robot starts to work, the self-mobile cleaning device starts from the base station 20 to perform cleaning tasks. When the self-mobile cleaning robot 10 completes the cleaning task or needs to stop the cleaning task in other situations, the self-mobile cleaning robot 10 can return to the base station 20 for charging or other operations.
  • the main body 110 of the machine includes a forward portion 111 and a rearward portion 112, and has an approximately circular shape (both front and rear are circular), and may also have other shapes, including but not limited to an approximate D shape with a front and rear circles. Rectangular or square shape in shape and front and rear.
  • the perception system 120 includes a position determination device 121 located on the main body 110 of the machine, a collision sensor and a proximity sensor disposed on the buffer 122 of the forward portion 111 of the main body 110 of the machine, and is arranged on the lower part of the main body 110 of the machine.
  • the cliff sensor as well as the magnetometer, accelerometer, gyroscope, odometer and other sensing devices arranged inside the main body 110 of the machine, are used to provide various position information and motion state information of the machine to the control module 130 .
  • the location determining device 121 includes but is not limited to a camera and a laser distance measuring device (LDS, full name Laser Distance Sensor).
  • the forward portion 111 of the machine body 110 can carry a buffer 122 , and when the driving wheel module 141 propels the cleaning robot 10 to walk on the ground during the cleaning process, the buffer 122 passes through a sensor system disposed thereon, such as The infrared sensor detects one or more events in the travel path of the cleaning robot 10.
  • the cleaning robot 10 can control the driving wheel module 141 to make the cleaning robot 10 respond to the events detected by the buffer 122, such as obstacles and walls. Events, such as moving away from obstacles.
  • the control module 130 is arranged on the main board of the main body 110 of the machine, and includes a computing processor, such as a central processing unit, an application processor, and a non-transitory memory, such as a hard disk, a flash memory, and a random access memory.
  • a computing processor such as a central processing unit, an application processor, and a non-transitory memory, such as a hard disk, a flash memory, and a random access memory.
  • the device uses a positioning algorithm, such as Simultaneous Localization and Mapping (SLAM, full name Simultaneous Localization And Mapping), to draw an instant map of the environment where the cleaning robot 10 is located.
  • SLAM Simultaneous Localization and Mapping
  • drive system 140 may steer machine body 110 across the ground based on drive commands having distance and angular information (eg, x, y, and theta components).
  • the driving system 140 includes a driving wheel module 141, which can simultaneously control the left wheel and the right wheel.
  • the driving wheel module 141 can include a left driving wheel module and a right driving wheel module respectively.
  • Left and right drive wheel modules are positioned along a transverse axis defined by machine body 110 .
  • the cleaning robot 10 may include one or more driven wheels 142 , and the driven wheels 142 include but are not limited to driven wheels.
  • the driving wheel module 141 includes traveling wheels, a driving motor and a control circuit for controlling the driving motor.
  • the driving wheel module 141 can also be connected with a circuit for measuring driving current and an odometer.
  • the drive wheels may have a biased drop suspension system, be movably secured, eg rotatably attached, to the machine body 110 and receive a spring bias biased downward and away from the machine body 110 .
  • the spring bias allows the drive wheels to maintain contact and traction with the ground with a certain ground force, while the cleaning elements of the cleaning robot 10 also contact the ground with a certain pressure.
  • Energy system 160 includes rechargeable batteries, such as NiMH and Lithium batteries.
  • the rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, and the charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit are connected with the single-chip microcomputer control circuit.
  • the main unit is charged by being connected to the charging pile through the charging electrodes arranged on the side or the bottom of the fuselage.
  • the human-computer interaction system 170 includes buttons on the panel of the host computer, which are used for the user to select functions; and may also include a display screen and/or an indicator light and/or a horn, and the display screen, the indicator light and the horn show the user the current state of the machine or Functional options; may also include mobile phone client programs.
  • the mobile phone client can show the user a map of the environment where the equipment is located, as well as the location of the machine, and can provide users with more abundant and user-friendly functional items.
  • the cleaning system 150 may be a dry cleaning system 151 and/or a wet cleaning system 153 .
  • the dry cleaning system 151 may include a roller brush, a dust box, a fan, and an air outlet.
  • the roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it to the front of the dust suction port between the roller brush and the dust box, and then is sucked into the dust box by the suction gas generated by the fan and passed through the dust box.
  • the dry cleaning system 151 may also include a side brush 152 having an axis of rotation angled relative to the floor for moving debris into the area of the roller brush of the cleaning system 150 .
  • the wet cleaning system 153 may include: a cleaning head 1531 , a driving unit 1532 , a water delivery mechanism, a liquid storage tank, and the like.
  • the cleaning head 1531 can be arranged under the liquid storage tank, and the cleaning liquid inside the liquid storage tank is transported to the cleaning head 1531 through the water delivery mechanism, so that the cleaning head 1531 performs wet cleaning on the surface to be cleaned.
  • the cleaning liquid inside the liquid storage tank may also be directly sprayed onto the plane to be cleaned, and the cleaning head 1531 cleans the plane by spreading the cleaning liquid evenly.
  • the cleaning head 1531 is used to clean the surface to be cleaned
  • the driving unit 1532 is used to drive the cleaning head 1531 to reciprocate substantially along the target surface, and the target surface is a part of the surface to be cleaned.
  • the cleaning head 1531 reciprocates along the surface to be cleaned, and the contact surface between the cleaning head 1531 and the surface to be cleaned is provided with a cleaning cloth or a cleaning plate, which generates high-frequency friction with the surface to be cleaned through reciprocating motion, thereby removing stains on the surface to be cleaned .
  • the driving unit 1532 may further include a driving platform 1533 and a supporting platform 1534.
  • the driving platform 1533 is connected to the bottom surface of the machine body 110 for providing driving force.
  • the supporting platform 1534 is detachably connected.
  • the driving platform 1533 is used to support the cleaning head 1531 and can be driven up and down by the driving platform 1533 .
  • the wet cleaning system 153 may be connected to the machine main body 110 through an active lifting module.
  • the cleaning robot 10 stops at the base station 20 to clean the cleaning head 1531 of the wet cleaning system 153, and fills the liquid storage tank;
  • the wet cleaning system 153 is lifted by the active lifting module.
  • the cleaning head 1531 , the driving platform 1533 , the supporting platform 1534 , the water delivery mechanism, and the liquid storage tank can be powered by one motor or multiple motors.
  • the energy system 160 provides power and energy for the motor, and is overall controlled by the control module 130 .
  • the water delivery mechanism in the embodiment of the present disclosure may include a water outlet device, and the water outlet device may be directly or indirectly connected to the liquid outlet of the liquid storage tank, wherein the cleaning liquid may flow to the water outlet device through the cleaning liquid outlet of the liquid storage tank, and It can be evenly applied to the surface to be cleaned by the water outlet device.
  • a connecting piece may be provided on the water outlet device, and the water outlet device is connected with the cleaning liquid outlet of the liquid storage tank through the connecting piece.
  • a distribution port is provided on the water outlet device, and the distribution port can be a continuous opening or a combination of several disconnected small openings, and several nozzles can be arranged at the distribution port. The cleaning liquid flows to the distribution port through the cleaning liquid outlet of the liquid storage tank and the connection piece of the water outlet device, and is evenly coated on the surface to be cleaned through the distribution port.
  • the liquid storage tank also includes a water supply port, which can be located on the side wall of the water tank.
  • a water supply port which can be located on the side wall of the water tank.
  • the base plate 210 includes a sloping portion 211 which is inclined upward from the rear to the front, wherein the front and rear direction of the base station is shown by the arrow in Figure 5, and the sloping portion 211 is used to guide
  • the cleaning robot 10 moves to a suitable position of the base station 20 to perform other operations such as charging. That is to say, the walking equipment of the cleaning robot 10, such as driving wheels and universal wheels, need to pass through the inclined portion 211 to stop at a suitable position of the base station 20.
  • the cleaning robot 10 is driven by the rear of the base station 20 The direction to the front can only be docked at a suitable position of the base station to realize corresponding operations through the inclined portion.
  • the rear end of the base plate 214 is connected with an extension plate 215. If the rear end of the base plate 214 is detachable or movable, the extension plate 215 is installed. When special circumstances are encountered, such as the floor is wet and slippery, the extension plate 215 can be connected with the base plate 214 and Place it behind the base plate 214, so that the cleaning robot 10 reaches the inclined surface 211 on the base plate 214 after passing through the extension plate 215 in the process of approaching the base station 20, thereby facilitating the climbing of the cleaning robot 10 and helping the cleaning robot 10 to stop at the base station 20.
  • the efficiency and reliability are suitable for popularization and application.
  • the extension plate 215 is detachably connected to the base plate 214.
  • the extension plate 215 can be connected to the rear end of the base plate 214 to facilitate the climbing of the cleaning robot 10.
  • the extension board 215 can be detached from the base plate 214 for storage, and the operation is simple.
  • the extension plate 215 is movably connected with the base plate 214, such as the extension plate 215 is movable relative to the base plate 214, when the extension plate 215 needs to be used, the extension plate 215 can be moved relative to the base plate 214 Move to the rear of the base plate 214 to facilitate the climbing of the cleaning robot 10.
  • the extension plate 215 can be moved relative to the base plate 214 to other positions that meet the requirements for storage, and the operation is simple.
  • the extension plate 215 and the base plate 214 can meet the needs of the cleaning robot 10 in the process of docking the base station 20.
  • the extension plate 215 and the base plate 214 use the extension plate 215 and the base plate 214 to form the base plate 210, so that the cleaning robot 10 can dock on the base station 20.
  • the base plate 214 can be used for cleaning.
  • the robot 10 is docked on the base station 20.
  • the extension board 215 is stored in a suitable position and does not need to be used, which expands the scope of use of the product and is suitable for popularization and application.
  • the front end of the substrate 214 is connected to the base station body 220.
  • the front end of the substrate 214 can be connected to the base station body 220 by welding, integral molding, or other methods that meet the requirements, which is not specifically limited in this disclosure. .
  • the extension plate 215 is pivotally connected to the base plate 214 , and the extension plate 215 includes a folded state and an unfolded state relative to the base plate 214 .
  • the base station 20 also includes a pivot shaft 218, the extension plate 215 and the base plate 214 are connected through the pivot shaft 218, so that when the extension plate 215 needs to be used, the extension plate 215 is rotated relative to the base plate 214 and positioned behind the base plate 214, which is convenient for cleaning the robot. 10 to realize the climbing operation.
  • the extension board 215 When the extension board 215 is not needed, the extension board 215 is pivoted to overlap with the base plate 214, so that the extension board 215 can be folded relative to the base board 214, which facilitates the storage of the extension board 215 and does not It will affect the size of the base plate 214 along the front-back direction, which can meet the requirement of the working condition that the cleaning robot 10 does not need the extension plate 215 during the docking process of the base station 20 . It can be understood that the extension plate 215 and the base plate 214 may also be connected by other structures that meet requirements, which is not specifically limited in the present disclosure.
  • the extension board 215 is a foldable structure, that is, the extension board 215 itself can be folded. Such configuration is beneficial to increase the length of the extension board 215 and facilitate the storage of the extension board 215, which is suitable for popularization and application.
  • FIG. 8 is a bottom view of a viewing angle in FIG. 7
  • FIG. 10 is a bottom view of a viewing angle in FIG. 6, wherein, as shown in FIG.
  • the accommodating groove 2141 can also be other structures with accommodating space, the accommodating groove 2141 communicates with the rear end of the substrate 214, that is, the accommodating groove 2141 is an open groove, as shown in Figure 8, extending When the plate 215 is folded relative to the base plate 214, the extension plate 215 is accommodated in the receiving groove 2141.
  • the setting of the receiving groove 2141 provides a storage space for the extension plate 215, and since the receiving groove 2141 is located at the bottom of the base plate 214, it does not It will affect the aesthetics of the appearance of the substrate 214, and at the same time, it will not affect the structure of the upper surface of the substrate 214 and the height of the substrate 214, thereby ensuring that the cleaning robot 10 can smoothly dock on the base station 20 along the upper surface of the substrate 214.
  • a downwardly protruding support portion 2143 is provided at the bottom of the base plate 214 near the front end, and a space for accommodating the extension plate 215 is formed between the support portion 2143 and the rear end of the base plate 214 . That is, the receiving groove 2141 is formed.
  • the support part 2143 may be a support plate, a support rib or other structures meeting requirements.
  • the extension plate 215 and the base plate 214 are respectively provided with a first anti-slip portion 2151 and a second anti-slip portion 2142 for the cleaning robot 10 to walk through, wherein the extension plate 215 is provided with The first anti-slip portion 2151 extending in the front-to-back direction and the second anti-slip portion 2142 are provided on the base plate 214.
  • the extension direction of the first anti-slip portion 2151 coincides with the extension direction of the second anti-slip portion 2142.
  • the walking equipment of the cleaning robot 10 passes the first anti-slip part 2151 and the second anti-slip part 2142 to stop on the base station 20 in sequence.
  • first anti-slip portion 2151 and the second anti-slip portion 2142 are used to contact the driving wheel of the cleaning robot 10, and the setting of the first anti-slip portion 2151 and the second anti-slip portion 2142 can generate certain friction with the driving wheel of the cleaning robot 10 force, to ensure that the cleaning robot 10 reliably moves to a suitable position of the base station 20 along the extension plate 215 and the base plate 214, so as to realize that the cleaning robot 10 docks on the base station 20.
  • the first anti-slip portion 2151 and/or the second anti-slip portion 2142 may be anti-slip concave-convex lines, or other anti-slip structures that meet requirements, which is not specifically limited in the present disclosure.
  • the anti-skid concave-convex pattern can match the tire pattern of the walking equipment, for example, the anti-skid concave-convex pattern can be the same as the tire pattern of the walking equipment, so that the first anti-skid portion 2151 and/or the second anti-skid portion 2142 can form a sufficient contact with the tire.
  • the frictional force ensures that the cleaning robot 10 can quickly and smoothly dock at a suitable position of the base station 20 .
  • the slope portion 211 is provided with a second anti-slip portion 2142, which is beneficial to ensure the smoothness of the cleaning robot 10 climbing.
  • the second anti-skid portion 2142 can be disposed on the slope portion 211 and on the base plate 214 between the slope portion 211 and the extension plate 215 to further improve the reliability of the cleaning robot 10 running on the base plate 214 .
  • the walking equipment of the cleaning robot 10 includes second walking equipment symmetrically distributed along the running direction of the cleaning robot 10 , as shown in FIG. 3 , the second walking equipment may be driving wheels.
  • the first anti-slip portion 2151 is symmetrically arranged on the extension plate 215, and the second anti-slip portion 2142 is symmetrically arranged on the base plate 214, that is, there are two second anti-slip portions 2142, which are symmetrically arranged on two sides of the center line of the base plate 214 along the front-rear direction.
  • the number of first anti-slip parts 2151 is also two, which are symmetrically arranged on both sides of the center line of the extension plate 215 along the front-rear direction, and the two first anti-slip parts 2151 and the two second anti-slip parts 2142 are provided correspondingly.
  • the two symmetrically distributed driving wheels pass through the symmetrically distributed first anti-skid parts and the symmetrically distributed second anti-skid parts in turn, so that the two first anti-skid parts 2151, the two second anti-skid parts
  • the anti-slip part 2142 can be in corresponding contact with the two driving wheels, which is beneficial to improving the stability and reliability of the cleaning robot docking at the base station.
  • the extension plate 215 is provided with a first rail 2191 extending in the front-rear direction
  • the first anti-skid portion 2151 is disposed in the first rail 2191
  • the base plate 214 is provided with a first rail 2191 extending in the front-rear direction.
  • Two rails 2192, the second anti-slip part 2142 is arranged in the second rail 2192, when the extension plate 215 is in the unfolded state relative to the base plate 214, the extension direction of the first rail 2191 coincides with the extension direction of the second rail 2192, so that the cleaning robot In the process of approaching the base station 20, the 10 passes through the first track 2191 and the second track 2192 to stop on the base station 20 in sequence.
  • first track 2191 and the second track 2192 play a certain guiding role to the tires of the second walking equipment of the cleaning robot 10, thereby enabling the second walking equipment to move along the first track 2191 and the second track 2192 smoothly, quickly, Accurately docking at a suitable position of the base station 20 is beneficial to improving the docking efficiency and accuracy of the cleaning robot 10 relative to the base station 20 .
  • avoidance grooves are provided on the base plate 214, for example, the avoidance grooves 2111 are provided on the inclined surface 211, and the avoidance grooves 2111 are located between the two second anti-skid portions 2142 for cleaning.
  • the robot 10 passes through the bottom plate 210 of the base station, a part of the cleaning robot 10 is accommodated.
  • the driven wheel 142 and the driving wheel are arranged at the bottom of the cleaning robot 10, that is, the second walking equipment is arranged at the bottom of the cleaning robot 10, therefore, by setting the avoidance groove 2111 on the inclined portion 211, the setting of the avoidance groove 2111
  • the driven wheel 142 or part of the main body 110 of the cleaning robot 10 can be accommodated when the cleaning robot 10 docks at the base station 20 to prevent the machine main body 110 of the cleaning robot 10 from lifting up prematurely when the cleaning robot 10 docks at the base station 20 , and cause the tail of the machine body 110 to be in contact with the base plate 210 , increasing the difficulty for the cleaning robot 10 to dock on the base station 20 .
  • support wheels 2112 are provided on both sides of the avoidance groove 2111, such as the support wheels 2112 are arranged on the inclined surface 211, located on both sides of the avoidance groove 2111, such as in the avoidance groove 2111 and the first Between the two anti-slip parts 2142, the bottom of the cleaning robot 10 is supported by the support wheels 2112, which is beneficial to reduce the difficulty of the driving wheels in the process of climbing a slope, thereby improving the smoothness of climbing.
  • the axis of the support wheel 2112 is vertically set to the front-to-back direction.
  • the base plate 214 further includes a planar portion 217 connected to the inclined portion 211, the planar portion 217 is located between the inclined portion 211 and the extension plate 215, that is, the planar portion 217 is located in front of the inclined portion 211, and the planar portion 217
  • the setting increases the distance between the cleaning robot 10 from the ground to the inclined portion 211 , and provides a certain buffer distance for the climbing operation of the cleaning robot 10 , which is beneficial for the cleaning robot 10 to climb the slope.
  • the walking equipment of the cleaning robot 10 also includes a first walking equipment, such as the first walking equipment is arranged at the front of the cleaning robot 10, and the second walking equipment It is arranged at the rear of the cleaning robot 10, wherein, with the moving direction of the cleaning robot 10 as the front, that is, in the moving direction of the cleaning robot 10, the first walking device is located in front of the second walking device, as shown in the embodiment shown in Figure 3
  • the driven wheel 142 is located in front of the driving wheel, that is, the first traveling device is the driven wheel 142 and the second traveling device is the driving wheel.
  • the first traveling device may also be a driving wheel
  • the second traveling device may also be a driven wheel 142 .
  • the embodiment provided by the present disclosure will be described by taking the first traveling device as the driven wheel 142 and the second traveling device as the driving wheel.
  • the rear end of the extension plate 215 is provided with a recessed structure 212 for the passage of the first walking equipment in the walking equipment of the cleaning robot, wherein the opening of the recessed structure 212 faces upwards and is in the same shape as the driven wheel 142 of the cleaning robot 10.
  • the driven wheel 142 is first adapted to the recessed structure 212, that is, the driven wheel 142 is close to the base station After the base plate 210 , it first moves along the recessed structure 212 , which can delay the lifting time of the cleaning robot 10 after contacting the base plate 210 , thereby improving the efficiency of the cleaning robot 10 docking on the base station 20 .
  • the first walking device is arranged at the middle position of the front part of the cleaning robot 10, wherein the body can be the main body 110 of the cleaning robot 10, such as the driven wheel 142 is usually arranged along the edge of the cleaning robot 10.
  • the body can be the main body 110 of the cleaning robot 10, such as the driven wheel 142 is usually arranged along the edge of the cleaning robot 10.
  • the recessed structure 212 On the geometric center line in the front-back direction, therefore, by setting the recessed structure 212 at the middle position of the rear end of the extension plate 215, it is possible to reduce the risk of cleaning the robot due to the recessed structure 212 being arranged at the rear end of the extension plate 215 away from the middle position. 10.
  • the base plate 210 can be docked on the base station 20 to make the extension plate 215 larger in size perpendicular to the front-to-back direction.
  • the recessed structure 212 is arranged at the middle position of the rear end of the extension plate 215, which is conducive to reducing the size of the extension plate 215 perpendicular to the front and rear directions, thereby reducing the space occupied by the base station base plate 210, and meeting the compact design requirements of the base station 20.
  • the concave structure 212 extends toward the base plate 214 , which is beneficial to reduce the distance for the cleaning robot 10 to move to the inclined portion 211 through the concave structure 212 , thereby prolonging the lifting time of the cleaning robot 10 during climbing.
  • the recessed structure 212 is at least one of a notch and a groove, that is, the recessed structure 212 can be a notch, or the recessed structure 212 is a groove, or the recessed structure 212 is a notch and a recess.
  • the grooves are formed together, such as the notch is located in front of the groove and communicates with each other, and the notch and the groove are enclosed to form a concave structure.
  • the different types of the recessed structure 212 can meet the requirements of different structures and different processing methods of the base station base plate 210, and expand the application range of the product.
  • the recessed structure 212 is a notch, that is, a notch is provided at the rear end of the extension plate 215, and the notch extends toward the inclined surface 211, so that the driven wheel 142 can move to the upper surface of the base station base plate 210 after passing through the notch, and pass through the notch.
  • the inclined portion 211 stops at a suitable position of the base station 20 .
  • the notch is convenient for processing and suitable for popularization and application.
  • the recessed structure 212 includes a groove arranged at the rear end of the extension plate 215 with the opening facing backward, that is, a groove is provided at the rear end of the extension plate 215, and the groove extends toward the inclined portion 211, and the groove is The open groove, that is, the opening of the groove communicates with the rear end of the extension plate 215, so that when the driven wheel 142 moves to the rear end of the extension plate 215, it passes through the groove, the upper surface of the extension plate 215, and the upper surface of the base plate 214 successively. , and the inclined portion 211 stops at a suitable position of the base station 20 .
  • the distance between the groove bottom of the groove and the lower surface of the extension plate 215 is small enough to lift the cleaning robot 10, or the lifting height is small and can be ignored. Effect of lift-off time after contact with base station chassis 210.
  • the design of the groove makes the distance between the groove bottom of the groove and the upper surface of the extension plate 215 appropriately reduced, which helps to reduce the difficulty for the driven wheel 142 to move from the groove to the upper surface of the extension plate 215, thereby improving the driving force of the driven wheel 142.
  • the smoothness and success rate of moving the 142 from the groove to the upper surface of the base station bottom plate 210 can improve the efficiency of the cleaning robot 10 docking at the base station 20 .
  • a first guide surface 2121 is provided along the circumference of the recessed structure 212, and the first guide surface 2121 is inclined from inside to outside. In some embodiments Among them, the first guide surface 2121 is inclined from bottom to top in a direction away from the inside of the opening. The setting of the first guide surface 2121 plays a good role in the process of moving the driven wheel 142 from the concave structure 212 to the upper surface of the extension plate 215.
  • the guiding effect is conducive to reducing the difficulty of the driven wheel 142 moving from the recessed structure 212 to the upper surface of the extension plate 215, improving the smoothness and success rate of the driven wheel 142 moving from the recessed structure 212 to the upper surface of the base plate 210, thereby improving cleaning The efficiency with which the robot 10 stops at the base station 20 .
  • the side of the concave structure 212 away from the rear end of the extension plate 215 is arc-shaped, and the arc-shape matches the partial shape of the driven wheel 142 .
  • the base station body 220 is provided with a guide portion 221 above the substrate 214 for contacting the cleaning robot 10 .
  • the contact between the guide part 221 and the cleaning robot 10 can guide the movement of the cleaning robot 10 to the direction close to the base station body 220, and can limit the movement of the cleaning robot 10 in the vertical direction, which is beneficial to improve the cleaning robot 10.
  • the smoothness and accuracy on the base station body 220 are conducive to improving the efficiency of the robot docking on the base station body 220 .
  • the base station body 220 is also provided with a cleaning assembly 30 for cleaning the cleaning robot 10 , and in some embodiments, the cleaning assembly 30 is used to clean the cleaning system 150 of the cleaning robot 10 , along the vertical direction, the guide part 221 is located above the cleaning assembly 30, that is, the cleaning assembly 30 is located on the side of the base station body 220 close to the base plate 210, so as to clean the cleaning system 150 at the bottom of the cleaning robot 10.
  • the cleaning tank 216 is used to accommodate the debris and sewage generated during the cleaning process of the cleaning system 150 of the cleaning robot 10 by the cleaning component 30.
  • the cleaning assembly 30 is located above the cleaning tank 216 , and the guide portion 221 is located above the cleaning assembly 30 . It can be understood that the cleaning groove 216 is located on a side of the inclined portion 211 away from the groove structure 212 .
  • the base station body 220 is provided with a guide top surface 224 opposite to the base plate 214, and the guide part 221 is arranged on the guide top surface 224 for connecting with the top of the cleaning robot 10.
  • the guide part 221 contacts the top of the cleaning robot 10 from above to guide and limit the movement of the cleaning robot 10, which is beneficial to reduce the size of the base station 20.
  • the size in the horizontal direction can meet the requirement that the layout space of the base station 20 has a smaller size in the horizontal direction, and expand the application range of the product.
  • the guide part 221 can be arranged in the middle of the guide top surface 224, so that the movement of the cleaning robot 10 can be guided and limited by using one guide part 221, and the structure is simple and the cost is low.
  • the guide part 221 can be arranged on both sides of the middle part of the guide top surface 224, so that the movement of the cleaning robot 10 is guided and limited by the two guide parts 221, which is conducive to improving the accuracy and accuracy of the movement of the cleaning robot 10. Stability, and improve the reliability and accuracy of the limit, suitable for popularization and application.
  • the guide part 221 can be arranged on the middle part and both sides of the middle part of the guide top surface 224, so that the movement of the cleaning robot 10 can be guided and limited by using the three guide parts 221, which can greatly improve the accuracy of the movement of the cleaning robot 10. and stability, improving the reliability and accuracy of the limit.
  • the number of guide parts 221 can also be one, two, three, four, five or other numbers that meet the requirements. Different numbers of guide parts 221 can meet the requirements of different structures of the guide parts 221. At the same time, it can meet the requirements of different precision for guiding and limiting, and expand the application range of the product.
  • the guide portion 221 can be at least one of the guide block 222 and the guide wheel 223, as the guide portion 221 can be both the guide block 222, or the guide portion 221 can be the guide wheel 223, or the guide portion 221 can be Including the guide pressure block 222 and the guide wheel 223, at this time, the number of guide parts 221 is at least two.
  • a guide portion 221 located in the middle is disposed on the guide top surface 224 , and the guide portion 221 can be a guide block 222 or a guide wheel 223 .
  • the guide top surface 224 is provided with two guide portions 221 located on both sides of the middle position, and the two guide portions 221 can be guide blocks 222 or guide wheels 223 at the same time, or one is a guide block 222, and the other is a guide block 222. Guide wheel 223.
  • three guide portions 221 are provided on the guide top surface 224, including a guide block 222 or a guide wheel 223 at the middle position, and a guide block 222 or guide wheels 223 at both sides of the middle position, such as the middle
  • a guide block 222 is set at the position, and guide wheels 223 are set at both sides of the middle position.
  • the guide part 221 is arranged on the front end of the guide top surface 224. Since the cleaning robot 10 moves along the front and back direction of the base station 20 and stops on the base station body 220 located in front, by setting the guide part 221 on the guide The side of the top surface 224 close to the front is conducive to guiding the cleaning robot 10 to move to the docking point of the base station body 220 along the front and rear directions of the base station 20, reducing the problem that the cleaning robot 10 cannot successfully move to the docking point of the base station body 220, Furthermore, the accuracy and reliability of the cleaning robot 10 docking to the base station 20 are improved.
  • the base station body 220 is also provided with a guide side 225 facing backward, and the guide side 225 is arranged between the base plate 214 and the guide top surface 224.
  • the guide side 225 is arranged on Above the cleaning assembly 30 , the guide side 225 includes two opposite side surfaces 2251 and a middle surface 2252 between the two side surfaces 2251 , the middle surface 2252 is opposite to the moving direction of the cleaning robot 10 toward the base station 20 .
  • the guide portion 221 includes a guide block 222
  • the side of the guide block 222 facing the base plate 214 is set as a first slope 2221
  • the first slope 2221 slopes downward from the rear to the front.
  • the cleaning robot 10 docks on the base station 20
  • the top of the cleaning robot 10 contacts the first slope 2221 of the guide block 222 and moves along the guide block 222.
  • the first slope 2221 of the base station moves toward the base station body 220 until it reaches the stop point.
  • the cleaning system 150 of the cleaning robot 10 is cleaned after it docks at the base station 20. contact, and exert a vertical upward thrust on the cleaning robot 10, the setting of the guide block 222 can partially or completely offset the vertical upward thrust, preventing the cleaning robot 10 from moving upward.
  • a wheel 180 matching the guide block 222 may be provided on the upper edge of the cleaning robot 10 , As shown in FIG. 12 , the rotating wheel 180 can rotate along an axis perpendicular to the front-to-back direction of the base station 20, so that when the cleaning robot 10 needs to move to the docking point of the base station 20, the rotating wheel 180 can cooperate with the guide block 222, It can facilitate the cleaning robot 10 to move to the docking point of the base station 20 more smoothly. It can be understood that the rotating wheel 180 can be correspondingly arranged on the upper side edge of the cleaning robot 10 according to the quantity and position of the guide pressing blocks 222 .
  • the cleaning robot 10 since the cleaning robot 10 docks on the base station 20 for different operations, its posture may be different, such as when the cleaning robot 10 docks on the base station 20 for charging, since the first charging contact pole piece is arranged on the cleaning robot The forward part 111 of 10, therefore, the forward part 111 is close to the base station body 220, that is, the cleaning robot 10 needs to move forward and dock on the base station 20.
  • the cleaning system 150 may be positioned close to the forward portion 111 of the cleaning robot 10 , or positioned away from the forward portion 111 .
  • the cleaning robot 10 can move the forward part 111 close to the base station body 220 to realize the cleaning of the cleaning system by the base station 20, that is, in this state, when charging and cleaning operations , the posture of the cleaning robot 10 relative to the base station 20 is the same, that is, the cleaning robot 10 needs to move forward and dock on the base station 20 .
  • a plurality of rotating wheels 180 can be arranged at different positions on the upper edge of the cleaning robot 10, so that when the cleaning robot 10 docks at the base station 20 in different postures, the rotating wheels 180 can cooperate with the guide block 222 to improve docking efficiency.
  • the guide wheel 223 rotates along an axis perpendicular to the front-rear direction of the base station 20 , that is, the guide wheel 223 rotates back and forth along the front and back direction, so that the guide wheels 223 can guide the cleaning robot 10 to move toward or away from the base station body 220, which can facilitate the cleaning robot 10 to move to the docking point of the base station 20 more smoothly.
  • the arrangement of the guide wheels 223 can also limit the movement of the cleaning robot 10 in the vertical direction after it stops on the base station 20 .
  • the cleaning assembly 30 of the base station 20 was in contact with the cleaning system 150 of the cleaning robot 10, and applied a vertical upward thrust to the cleaning robot 10, the setting of the guide wheels 223
  • the vertical upward thrust can be partially or fully counteracted to prevent the cleaning robot 10 from moving upward.
  • the guide top surface 224 is provided with a mounting frame 226, and the guide wheel 223 is installed on the mounting frame 226 through a rotating shaft 227.
  • the setting of the mounting frame 226 and the rotating shaft 227 enables the guiding wheel 223 to be reliably and firmly fixed on the mounting frame 226.
  • Guided on the top surface 224 and can rotate around a rotation axis 227 along a front-rear direction perpendicular to the base station 20 , wherein the rotation shaft 227 is arranged along a front-rear direction perpendicular to the base station 20 .
  • the mounting frame 226 includes a first frame body 2261 and a second frame body 2262 that are oppositely arranged, and the rotating shaft 227 connects the first frame body 2261 and the second frame body 2262, that is, the first frame body 2261 and the second frame body
  • the bodies 2262 are distributed at intervals along the front and rear directions perpendicular to the base station 20.
  • the guide wheels 223 are sleeved on the rotating shaft 227 and located between the first frame body 2261 and the second frame body 2262.
  • the guide wheels 223 is in contact with the top of the cleaning robot 10 and rotates along the rotating shaft 227 to guide the cleaning robot 10 to move closer to the base station body 220, so that the cleaning robot 10 can move to the docking point of the base station 20 more smoothly.
  • the arrangement of the first frame body 2261 and the second frame body 2262 is beneficial to improve the reliability and stability of the connection between the guide wheel 223 and the guide top surface 224 .

Landscapes

  • Electric Vacuum Cleaner (AREA)
  • Manipulator (AREA)
  • Cleaning In General (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Cleaning By Liquid Or Steam (AREA)

Abstract

一种基站（20）和清洁机器人系统，基站（20）用于清洁机器人（10）的维护，基站（20）包括：基站本体（220）和设置有由后至前倾斜向上的斜面部（211）的基站底板（210），基站底板（210）包括基板（214）和延长板（215），基板（214）的前端与基站本体（220）相衔接，基板（214）的后端与延长板（215）相连接。

Description

基站和清洁机器人系统
相关申请的交叉引用
本申请基于申请日为2021年7月16日、申请号为202110805968.1号的中国专利申请以及申请日为2021年8月27日、申请号为202122051444.6号的中国专利申请，并要求这两个中国专利申请的优先权，这两个中国专利申请的全部内容在此引入作为参考。
技术领域
本公开涉及智能家居技术领域，尤其涉及一种基站和一种清洁机器人系统。
背景技术
目前的基站，通常需要清洁机器人主动移动至基站的合适位置处，以实现基站对清洁机器人的维护操作，如充电、补水、清洗等。但是，当遇到地面湿滑的情况下，会影响清洁机器人的爬坡操作。
发明内容
在发明内容部分中引入了一系列简化形式的概念，这将在具体实施方式部分中进一步详细说明。本公开的此部分并不意味着要试图限定出所要求保护的技术方案的关键特征和必要技术特征，更不意味着试图确定所要求保护的技术方案的保护范围。
本公开第一方面的实施例，提供了一种基站，用于清洁机器人的维护，基站包括：基站本体和设置有由后至前倾斜向上的斜面部的基站底板；其中，基站底板包括基板和延长板，基板的前端与基站本体相衔接，基板的后端与延长板相连接。
在一些实施例中，延长板与基板枢转连接，延长板相对于基板包括折叠状态和展开状态。
在一些实施例中，基板的底部设置有容纳槽，延长板处于折叠状态时容置于容纳槽内。
在一些实施例中，延长板和基板上分别设置有用于清洁机器人行走设备通过的第一防滑部和第二防滑部。
在一些实施例中，第一防滑部对称设置于延长板上，第二防滑部对称设置于基板上。
在一些实施例中，基板上设置有避让槽，避让槽设置于第二防滑部之间，用于在清洁机器人通过基站底板时容纳部分清洁机器人。
在一些实施例中，避让槽的两侧设置有支撑轮，支撑轮用于清洁机器人在通过或停靠基站底板时支撑清洁机器人。
在一些实施例中，延长板后端设置有用于清洁机器人的行走设备通过的凹陷结构。
在一些实施例中，凹陷结构位于延长板后端的中间位置处。
在一些实施例中，沿凹陷结构的周向设置有第一导向面，第一导向面由内向外倾斜设 置。
在一些实施例中，基站本体上设置有位于基板上方的用于与清洁机器人接触的导向部。
在一些实施例中，基站本体上设置有与基板相对的导向顶面，导向部设置于导向顶面的中部和/或中部的两侧。
在一些实施例中，导向部设置于导向顶面的前端。
在一些实施例中，导向部包括导向压块，导向压块朝向基板的一侧设置为第一斜面，第一斜面由后至后前下倾斜。
在一些实施例中，导向部包括导向轮，导向轮沿垂直于基站的前后方向的轴线转动。
在一些实施例中，导向顶面上设置有安装架，导向轮通过转轴安装至安装架。
本公开第二方面的实施例，提供了一种清洁机器人系统，包括：清洁机器人；以及第一方面任一项的基站，清洁机器人适于停靠至基站上。
附图说明
本公开的下列附图在此作为本公开实施例的一部分用于理解本公开。附图中示出了本公开的实施例及其描述，用来解释本公开的原理。
附图中：
图1为根据本公开的实施例的清洁机器人系统的结构示意图；
图2为根据本公开的实施例的清洁机器人的结构示意图；
图3为图2所示实施例的一个视角的结构示意图；
图4为图3所示实施例的部分爆炸示意图；
图5为根据本公开的第实施例的基站的结构示意图；
图6为根据本公开实施例提供的延长板相对于基板展开状态的结构示意图；
图7为根据本公开实施例提供的延长板相对于基板折叠状态的结构示意图；
图8为图7所示实施例的一个视角的部分结构示意图；
图9为图7所示实施例的又一个视角的部分结构示意图；
图10为图6所示实施例的一个视角的部分结构示意图；
图11为图1所示实施例的部分结构示意图；
图12为根据本公开的又一个实施例的清洁机器人的结构示意图；
图13为根据本公开的实施例的基站的结构示意图；
图14为图13所示实施例的A处的局部放大示意图。
附图标记说明
10清洁机器人，110机器主体，111前向部分，112后向部分，120感知系统，121确定装置，122缓冲器，130控制模块，140驱动系统，141驱动轮模块，142从动轮，150 清洁系统，151干式清洁系统，152边刷，153湿式清洁系统，1531清洁头，1532驱动单元，1533驱动平台，1534支撑平台，160能源系统，170人机交互系统，180转轮，20基站，210基站底板，211斜面部，2111避让槽，2112支撑轮，212凹陷结构，2121第一导向面，214基板，2141容纳槽，2142第二防滑部，2143支撑部，215延长板，2151第一防滑部，216清洁槽，217平面部，218枢转轴，2191第一轨道，2192第二轨道，220基站本体，221导向部，222导向压块，2221第一斜面，223导向轮，224导向顶面，225导向侧面，2251侧表面，2252中间表面，226安装架，2261第一架体，2262第二架体，227转轴，30清洁组件。
具体实施方式
在下文的描述中，给出了大量具体的细节以便提供对本公开所提供的技术方案更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本公开所提供的技术方案可以无需一个或多个这些细节而得以实施。
应予以注意的是，这里所使用的术语仅是为了描述具体实施例，而非意图限制根据本公开的示例性实施例。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式。此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在所述特征、整体、步骤、操作、元件和/或组件，但不排除存在或附加一个或多个其他特征、整体、步骤、操作、元件、组件和/或它们的组合。
现在，将参照附图更详细地描述根据本公开的示例性实施例。然而，这些示例性实施例可以多种不同的形式来实施，并且不应当被解释为只限于这里所阐述的实施例。应当理解的是，提供这些实施例是为了使得本公开的公开彻底且完整，并且将这些示例性实施例的构思充分传达给本领域普通技术人员。
如图1至图14所示，本公开的实施例提供了一种基站20和一种清洁机器人系统，其中，如图1所示，清洁机器人系统包括清洁机器人10和基站20，即基站20与清洁机器人10配合使用。
在一些实施例中，如图2和图3所示，清洁机器人10可以包括机器主体110、感知系统120、控制模块130、驱动系统140、清洁系统150、能源系统160和人机交互系统170。可以理解的是，清洁机器人10可以为自移动清洁机器人或满足要求的其他清洁机器人。自移动清洁机器人是在无使用者操作的情况下，在某一待清洁区域自动进行清洁操作的设备。其中，当自移动清洁机器人开始工作时，自移动清洁设备从基站20出发进行清洁任务。当自移动清洁机器人10完成清洁任务或其他需要中止清洁任务的情况时，自移动清洁机器人10可以返回基站20进行充电或其他操作。
如图2所示，机器主体110包括前向部分111和后向部分112，具有近似圆形形状(前后都为圆形)，也可具有其他形状，包括但不限于前方后圆的近似D形形状及前方后方的矩形或正方形形状。
如图2所示，感知系统120包括位于机器主体110上的位置确定装置121、设置于机器主体110的前向部分111的缓冲器122上的碰撞传感器、近距离传感器，设置于机器主体110下部的悬崖传感器，以及设置于机器主体110内部的磁力计、加速度计、陀螺仪、里程计等传感装置，用于向控制模块130提供机器的各种位置信息和运动状态信息。位置确定装置121包括但不限于摄像头、激光测距装置(LDS，全称Laser Distance Sensor)。
如图2所示，机器主体110的前向部分111可承载缓冲器122，在清洁过程中驱动轮模块141推进清洁机器人10在地面行走时，缓冲器122经由设置在其上的传感器系统，例如红外传感器，检测清洁机器人10的行驶路径中的一个或多个事件，清洁机器人10可通过由缓冲器122检测到的事件，例如障碍物、墙壁，而控制驱动轮模块141使清洁机器人10来对事件做出响应，例如远离障碍物。
控制模块130设置在机器主体110内的电路主板上，包括与非暂时性存储器，例如硬盘、快闪存储器、随机存取存储器，通信的计算处理器，例如中央处理单元、应用处理器，应用处理器根据激光测距装置反馈的障碍物信息利用定位算法，例如即时定位与地图构建(SLAM，全称Simultaneous Localization And Mapping)，绘制清洁机器人10所在环境中的即时地图。并且结合缓冲器122上所设置传感器、悬崖传感器、磁力计、加速度计、陀螺仪、里程计等传感装置反馈的距离信息、速度信息综合判断清洁机器人10当前处于何种工作状态、位于何位置，以及清洁机器人10当前位姿等，如过门槛，上地毯，位于悬崖处，上方或者下方被卡住，尘盒满，被拿起等等，还会针对不同情况给出具体的下一步动作策略，使得清洁机器人10有更好的清扫性能和用户体验。
如图3所示，驱动系统140可基于具有距离和角度信息(例如x、y及θ分量)的驱动命令而操纵机器主体110跨越地面行驶。驱动系统140包含驱动轮模块141，驱动轮模块141可以同时控制左轮和右轮，为了更为精确地控制机器的运动，驱动轮模块141可以分别包括左驱动轮模块和右驱动轮模块。左、右驱动轮模块沿着由机器主体110界定的横向轴设置。为了清洁机器人10能够在地面上更为稳定地运动或者更强的运动能力，清洁机器人10可以包括一个或者多个从动轮142，从动轮142包括但不限于从动轮。驱动轮模块141包括行走轮和驱动马达以及控制驱动马达的控制电路，驱动轮模块141还可以连接测量驱动电流的电路和里程计。驱动轮可具有偏置下落式悬挂系统，以可移动方式紧固，例如以可旋转方式附接到机器主体110，且接收向下及远离机器主体110偏置的弹簧偏置。弹簧偏置允许驱动轮以一定的着地力维持与地面的接触及牵引，同时清洁机器人10的清洁元件也以一定的压力接触地面。
能源系统160包括充电电池，例如镍氢电池和锂电池。充电电池可以连接有充电控制电路、电池组充电温度检测电路和电池欠压监测电路，充电控制电路、电池组充电温度检测电路、电池欠压监测电路再与单片机控制电路相连。主机通过设置在机身侧方或者下方的充电电极与充电桩连接进行充电。
人机交互系统170包括主机面板上的按键，按键供用户进行功能选择；还可以包括显 示屏和/或指示灯和/或喇叭，显示屏、指示灯和喇叭向用户展示当前机器所处状态或者功能选择项；还可以包括手机客户端程序。对于路径导航型自动清洁设备，在手机客户端可以向用户展示设备所在环境的地图，以及机器所处位置，可以向用户提供更为丰富和人性化的功能项。
清洁系统150可为干式清洁系统151和/或湿式清洁系统153。
如图3所示，本公开实施例所提供的干式清洁系统151可以包括滚刷、尘盒、风机、出风口。与地面具有一定干涉的滚刷将地面上的垃圾扫起并卷带到滚刷与尘盒之间的吸尘口前方，然后被风机产生并经过尘盒的有吸力的气体吸入尘盒。干式清洁系统151还可包括具有旋转轴的边刷152，旋转轴相对于地面成一定角度，以用于将碎屑移动到清洁系统150的滚刷区域中。
如图3和图4所示，本公开实施例所提供的湿式清洁系统153可以包括：清洁头1531、驱动单元1532、送水机构、储液箱等。其中，清洁头1531可以设置于储液箱下方，储液箱内部的清洁液通过送水机构传输至清洁头1531，以使清洁头1531对待清洁平面进行湿式清洁。在本公开其他实施例中，储液箱内部的清洁液也可以直接喷洒至待清洁平面，清洁头1531通过将清洁液涂抹均匀实现对平面的清洁。
其中，清洁头1531用于清洁待清洁表面，驱动单元1532用于驱动清洁头1531沿着目标面基本上往复运动的，目标面为待清洁表面的一部分。清洁头1531沿待清洁表面做往复运动，清洁头1531与待清洁表面的接触面表面设有清洁布或清洁板，通过往复运动与待清洁表面产生高频摩擦，从而去除待清洁表面上的污渍。
在本公开实施例中，如图4所示，驱动单元1532还可以包括驱动平台1533和支撑平台1534，驱动平台1533连接于机器主体110底面，用于提供驱动力，支撑平台1534可拆卸的连接于驱动平台1533，用于支撑清洁头1531，且可以在驱动平台1533的驱动下实现升降。
作为本公开的实施例，湿式清洁系统153可以通过主动式升降模组与机器主体110相连接。当湿式清洁系统153暂时不参与工作，例如，清洁机器人10停靠基站20对湿式清洁系统153的清洁头1531进行清洗、对储液箱进行注水；或者遇到无法采用湿式清洁系统153进行清洁的待清洁表面时，通过主动式升降模组将湿式清洁系统153升起。
在本公开实施例所提供的湿式清洁系统153中，清洁头1531、驱动平台1533、支撑平台1534、送水机构以及储液箱等可以通过一个电机或多个电机提供动力。能源系统160为该电机提供动力和能源，并由控制模块130进行整体控制。
其中，本公开实施例中的送水机构可以包括出水装置，出水装置可以与储液箱的出液口直接或间接相连接，其中，清洁液可以经储液箱的清洁液出口流向出水装置，并可以通过出水装置均匀地涂在待清洁表面上。出水装置上可以设有连接件，出水装置通过连接件与储液箱的清洁液出口连接。出水装置上设有分配口，分配口可以是连续的开口，也可以由若干断开的小开口组合而成，分配口处可以设有若干喷嘴。清洁液经储液箱的清洁液出 口和出水装置的连接件流向分配口，经分配口均匀地涂在待清洁表面上。
在本公开实施例中，储液箱还包括补水口，补水口可以位于水箱侧壁，当清洁机器人10停靠基站20时，基站20可以通过该补水口向清洁机器人10的储液箱注水。
在本公开提供的实施例中，如图5至图10所示，基站20包括基站本体220和基站底板210，基站底板210包括基板214和延长板215，其中，基板214的前端与基站本体220衔接，基板214的后端与延长板215连接，基站底板210包括由后至前倾斜向上设置的斜面部211，其中，基站的前后方向如图5中的箭头所示，斜面部211用于引导清洁机器人10移动至基站20的合适位置处以进行充电等其他操作。也就是说，清洁机器人10的行走设备，如驱动轮和万向轮，需要通过该斜面部211才能停靠在基站20的合适位置处，在一些实施例中，清洁机器人10由基站20的从后至前的方向通过斜面部才能够停靠在基站的合适位置处以实现对应的操作，如清洁机器人停靠在基站上进行充电，即清洁机器人10的前进方向为朝向基站20的前方。
通过基板214的后端连接有延长板215，如基板214的后端可拆卸或活动的设置延长板215，当遇到特殊情况，例如地板湿滑等，可以将延长板215与基板214连接并放在基板214的后方，使得清洁机器人10在靠近基站20的过程中，经过延长板215后到达基板214上面的斜面部211，进而方便清洁机器人10爬坡，有利于提高清洁机器人10停靠基站20的效率和可靠性，适于推广应用。
在一些实施例中，一方面，延长板215与基板214为可拆卸连接，如当需要使用延长板215时，可以将延长板215与基板214位于后方的端部连接以方便清洁机器人10爬坡，当不需要使用延长板215时，可以将延长板215从基板214上拆卸下来进行收纳，操作简单。
另一方面，如图6和图7所示，延长板215与基板214活动连接，如延长板215相对于基板214可活动，当需要使用延长板215时，可以将延长板215相对于基板214活动至位于基板214的后方，以方便清洁机器人10爬坡，当不需要使用延长板215时，可以将延长板215相对于基板214活动至满足要求的其他位置进行收纳，操作简单。
也就是说，通过延长板215与基板214活动连接或可拆卸连接，能够满足清洁机器人10在停靠基站20过程中需要延长板215和不需要延长板215不同工况的需求，即当有特殊需求，如地面较为湿滑时，利用延长板215和基板214组成基站底板210，以实现清洁机器人10停靠在基站20上，当无特殊需求时，如地面较为干燥时，可以只利用基板214实现清洁机器人10停靠在基站20上，此时延长板215收纳至合适位置并不需要使用，扩大了产品的使用范围，适于推广应用。
其中，基板214的前端与基站本体220相衔接，在一些实施例中，可以通过焊接、一体成型、或满足要求的其他方式使基板214的前端与基站本体220相衔接，本公开不做具体限定。
在上述实施例中，如图6和图7所示，延长板215与基板214枢转连接，延长板215 相对于基板214包括折叠状态和展开状态。如基站20还包括枢转轴218，延长板215和基板214通过枢转轴218连接，使得在需要使用延长板215时，将延长板215相对于基板214转动位于基板214的后方，即可方便清洁机器人10实现爬坡操作，当不需要使用延长板215时，将延长板215枢转至与基板214重叠，即可实现延长板215相对于基板214折叠，这样便于延长板215的收纳，且并不会影响基板214沿前后方向的尺寸，能够满足清洁机器人10在停靠基站20过程中不需要延长板215的工况的需求。可以理解的时，延长板215与基板214也可以采用满足要求的其他结构连接，本公开不做具体限定。
在一些实施例中，延长板215为可折叠结构，即延长板215自身可折叠，这样的设置，有利于增加延长板215的长度，且便于延长板215的收纳，适于推广应用。
在上述实施例中，如图8和图10所示，图8为图7一个视角的仰视图，图10为图6一个视角的仰视图，其中，如图10所示，基板214的底部设置有容纳槽2141，可以理解的是，容纳槽2141也可以为具有容纳空间的其他结构，容纳槽2141与基板214的后端部连通，即容纳槽2141为开口槽，如图8所示，延长板215相对于基板214处于折叠状态时，延长板215容置于容纳槽2141内，容纳槽2141的设置，为延长板215提供了收纳空间，且由于容纳槽2141位于基板214的底部，并不会影响基板214外观的美观性，同时，并不会影响基板214的上表面的结构和基板214的高度，进而能够确保清洁机器人10沿基板214的上表面顺利停靠在基站20上。
在一示例中，如图8和图10所示，基板214底部靠近前端的部分设置有向下凸出的支撑部2143，支撑部2143与基板214后端之间形成容纳延长板215的空间，即形成容纳槽2141。其中，支撑部2143可以为支撑板、支撑筋或满足要求的其他结构。
在上述实施例中，如图6所示，延长板215和基板214上分别设置有用于清洁机器人10行走设备通过的第一防滑部2151和第二防滑部2142，其中，延长板215上设置有沿前后方向延伸的第一防滑部2151，基板214上设置有第二防滑部2142，当延长板215处于展开状态时，第一防滑部2151的延伸方向与第二防滑部2142的延伸方向重合，使得清洁机器人10在靠近基站20的过程中，清洁机器人10的行走设备依次经过第一防滑部2151、第二防滑部2142停靠在基站20上。其中，第一防滑部2151和第二防滑部2142用于与清洁机器人10的驱动轮接触，第一防滑部2151、第二防滑部2142的设置，能够与清洁机器人10的驱动轮产生一定的摩擦力，保证清洁机器人10沿延长板215、基板214可靠移动至基站20的合适位置处，以实现清洁机器人10停靠在基站20上。
在一些实施例中，第一防滑部2151和/或第二防滑部2142可以为防滑凹凸纹路、或满足要求的其他防滑结构，本公开不做具体限定。其中，防滑凹凸纹路可以与行走设备的轮胎纹路相匹配，例如，防滑凹凸纹路可以与行走设备的轮胎纹路相同，以使第一防滑部2151和/或第二防滑部2142能够与轮胎产生一足够的摩擦力保证清洁机器人10能够快速、顺利停靠在基站20的合适位置处。
其中，斜面部211上设置有第二防滑部2142，有利于确保清洁机器人10爬坡的顺利 性。可以理解的是，第二防滑部2142可以设置在斜面部211上，并设置在斜面部211和延长板215之间的基板214上，以进一步提高清洁机器人10在基板214上运行的可靠性。
在本公开提供的一些可能实现的实施例中，清洁机器人10的行走设备包括沿清洁机器人10的运行方向对称分布的第二行走设备，如图3所示，第二行走设备可以为驱动轮。第一防滑部2151对称设置在延长板215上，第二防滑部2142对称设置在基板214上，即第二防滑部2142的数量为两个，对称设置在基板214沿前后方向的中心线的两侧，第一防滑部2151的数量也为两个，对称设置在延长板215沿前后方向的中心线的两侧，且两个第一防滑部2151与两个第二防滑部2142对应设置。这样，当清洁机器人10靠近基站底板210时，对称分布的两个驱动轮依次通过对称分布的第一防滑部、对称分布的第二防滑部，使得两个第一防滑部2151、两个第二防滑部2142能够分别与两个驱动轮对应接触，有利于提高清洁机器人停靠基站的稳定性和可靠性。
在一些实施例中，如图6所示，延长板215设置有沿前后方向延伸的第一轨道2191，第一防滑部2151设置在第一轨道2191内，基板214设置有沿前后方向延伸的第二轨道2192，第二防滑部2142设置在第二轨道2192内，当延长板215相对于基板214处于展开状态时，第一轨道2191的延伸方向与第二轨道2192的延伸方向重合，使得清洁机器人10在靠近基站20的过程中，依次经过第一轨道2191、第二轨道2192停靠在基站20上。其中，第一轨道2191和第二轨道2192对清洁机器人10的第二行走设备的轮胎起到了一定的导向作用，进而使得第二行走设备沿第一轨道2191和第二轨道2192能够顺利、快速、准确地停靠在基站20的合适位置处，有利于提高清洁机器人10相对于基站20的停靠效率和停靠的准确性。
在本公开提供的一些可能实现的实施例中，基板214上设置有避让槽，如避让槽2111设置在斜面部211上，避让槽2111位于两个第二防滑部2142之间，用于在清洁机器人10通过基站底板210时容纳部分清洁机器人10。由于通常情况下，从动轮142和驱动轮设置在清洁机器人10的底部，即第二行走设备设置在清洁机器人10的底部，因此，通过在斜面部211上设置避让槽2111，避让槽2111的设置可以在清洁机器人10停靠基站20的过程中容纳从动轮142、或部分清洁机器人10的机器主体110等，防止清洁机器人10在停靠基站20的过程中，清洁机器人10的机器主体110过早翘起，并导致机器主体110的尾部与基站底板210相接触，增大清洁机器人10停靠基站20的难度。
如图5、图6和图7所示，避让槽2111的两侧设置有支撑轮2112，如支撑轮2112设置在斜面部211上，位于避让槽2111的两侧，如位于避让槽2111和第二防滑部2142之间，通过支撑轮2112对清洁机器人10的底部进行支撑，有利于减小驱动轮在爬坡过程中的难度，进而有利于提高爬坡的顺畅性。其中，支撑轮2112的轴线与前后方向垂直设置。
在一些实施例中，基板214还包括与斜面部211相连接的平面部217，平面部217位于斜面部211和延长板215之间，即平面部217位于斜面部211的前方，平面部217的设置，增加了清洁机器人10由地面至斜面部211的距离，对清洁机器人10的爬坡操作，提 供了一定的缓冲距离，有利于清洁机器人10爬坡。
在本公开提供的一些可能实现的实施例中，如图6所示，清洁机器人10的行走设备还包括第一行走设备，如第一行走设备设置在清洁机器人10的前部，第二行走设备设置在清洁机器人10的后部，其中，以清洁机器人10的运动方向为前方，即在清洁机器人10的运动方向上，第一行走设备位于第二行走设置的前方，以图3所示实施例为例，当清洁机器人10向前运动停靠至基站20的过程中，从动轮142位于驱动轮的前方，即第一行走设备为从动轮142，第二行走设备为驱动轮。可以理解的式，在其他实施例中，第一行走设备也可以为驱动轮，第二行走设备也可以为从动轮142。下面，以第一行走设备为从动轮142，第二行走设备为驱动轮介绍本公开提供的实施例。
由于清洁机器人10的第一行走设备设置于第二行走设备的前方，当需要清洁机器人10前进移动停靠在基站20上时，第一行走设备(如从动轮142)将先于第二行走设备(如驱动轮)靠近基站20。通过在延长板215的后端设置有用于清洁机器人的行走设备中的第一行走设备通过的凹陷结构212，其中，凹陷结构212的开口朝上，并与清洁机器人10的从动轮142的形状相适配，这样的设置，当清洁机器人10前进移动靠近基站底板210时，在延长板215相对于基板214处于展开状态时，从动轮142先与凹陷结构212适配，即从动轮142在靠近基站底板210后，先沿凹陷结构212移动，能够延迟清洁机器人10与基站底板210接触后的抬起时间，进而有利于提高清洁机器人10停靠基站20的效率。
在一些实施例中，第一行走设备设置于清洁机器人10机身前部的中间位置，其中，机身可以是清洁机器人10的机器主体110，如从动轮142通常情况下设置在清洁机器人10沿前后方向的几何中心线上，因此，通过将凹陷结构212设置在延长板215后端的中间位置处，能够减小因凹陷结构212设置在延长板215的后端远离中间位置处，为了确保清洁机器人10能够通过基站底板210停靠在基站20上而使延长板215沿垂直于前后方向的尺寸较大的问题。即将凹陷结构212设置于延长板215后端的中间位置处，有利于减小延长板215沿垂直于前后方向的尺寸，进而减小基站底板210占用的空间，能够满足基站20结构紧凑的设计需求。其中，凹陷结构212向基板214的方向延伸，有利于减小清洁机器人10通过凹陷结构212移动至斜面部211的距离，进而能够延长清洁机器人10爬坡过程中的抬起时间。
在上述实施例中，如图5所示，凹陷结构212为缺口和凹槽中的至少一个，即凹陷结构212可以为缺口，或者凹陷结构212为凹槽，或者，凹陷结构212为缺口和凹槽共同组成的，如缺口位于凹槽的前方并相互连通，缺口和凹槽合围成凹陷结构。凹陷结构212的不同类型能够满足基站底板210不同结构、不同加工方式的需求，扩大了产品的使用范围。
在一些实施例中，凹陷结构212为缺口，即在延长板215后端设置缺口，缺口向斜面部211的方向延伸，使得从动轮142通过缺口后能够移动至基站底板210的上表面、并通过斜面部211后停靠在基站20的合适位置。其中，缺口便于加工，适于推广应用。
在一些实施例中，凹陷结构212包括设置在延长板215的后端的开口向后的凹槽，即 在延长板215的后端设置凹槽，凹槽向斜面部211的方向延伸，凹槽为开口槽，即凹槽的开口与延长板215的后端部连通，这样，从动轮142移动至延长板215的后端时，依次通过凹槽、延长板215的上表面、基板214的上表面、斜面部211后停靠在基站20的合适位置。其中，凹槽的槽底与延长板215的下表面的距离较小，不足以将清洁机器人10抬起，或者抬起的高度较小，可以忽略不记，因此，同样能够实现延迟清洁机器人10与基站底板210接触后的抬起时间的效果。同时，凹槽的设计，使得凹槽的槽底与延长板215的上表面的距离适当减小，有利于降低从动轮142由凹槽移动至延长板215的上表面的难度，进而提高从动轮142由凹槽移动至基站底板210上表面的顺畅性和成功率，能够提高清洁机器人10停靠基站20的效率。
在本公开提供的一些可能实现的实施例中，如图6所示，沿凹陷结构212的周向设置有第一导向面2121，第一导向面2121由内至外倾斜设置，在一些实施例中，第一导向面2121由下至上向远离开口内部的方向倾斜，第一导向面2121的设置，在从动轮142由凹陷结构212移动至延长板215的上表面的过程中，起到了良好的导向作用，有利于降低从动轮142由凹陷结构212移动至延长板215上表面的难度，提高了从动轮142由凹陷结构212移动至基站底板210的上表面的顺畅性和成功率，进而提高清洁机器人10停靠基站20的效率。
其中，凹陷结构212远离延长板215后端的一侧呈弧状，圆弧状与从动轮142的部分形状相匹配。
在本公开提供的一些可能实现的实施例中，如图1、图11、图13所示，基站本体220上设置有位于基板214的上方的用于与清洁机器人10接触的导向部221。通过导向部221与清洁机器人10接触能够对清洁机器人10向靠近基站本体220的方向移动进行导向，并能够对清洁机器人10沿竖直方向的移动进行限位，进而有利于提高清洁机器人10停靠在基站本体220上的顺畅性和准确性，并有利于提高机器人停靠在基站本体220上的效率。
在一些实施例中，如图6所示，基站本体220上还设置有用于清洁清洁机器人10的清洁组件30，在一些实施例中，清洁组件30用于对清洁机器人10的清洁系统150进行清洁，沿竖直方向，导向部221位于清洁组件30的上方，即清洁组件30位于基站本体220靠近基站底板210的一侧，以对清洁机器人10位于底部的清洁系统150进行清洁。可以理解的时，当基板214设置有位于清洁组件30下方的清洁槽216时，清洁槽216用于容置清洁组件30清洁清洁机器人10的清洁系统150过程中产生的杂物和污水，此时，沿竖直方向，清洁组件30位于清洁槽216的上方，导向部221位于清洁组件30的上方。可以理解的是，清洁槽216位于斜面部211远离凹槽结构212的一侧。
在上述实施例中，如图13、图14所示，基站本体220上设置有与基板214相对的导向顶面224，导向部221设置在导向顶面224上，用于与清洁机器人10的顶部接触，也就是说，在清洁机器人10停靠在基站本体220的过程中，导向部221从上方与清洁机器人10的顶部接触实现对清洁机器人10的移动进行导向和限位，有利于减小基站20在水平方 向的尺寸，能够满足基站20的布置空间水平方向尺寸较小的需求，扩大了产品的使用范围。
其中，一方面，导向部221可以设置在导向顶面224的中部，使得利用一个导向部221即可实现对清洁机器人10的移动进行导向和限位的作用，结构简单，成本较低。
另一方面，导向部221可以设置在导向顶面224的中部的两侧，使得利用两个导向部221对清洁机器人10的移动进行导向和限位，有利于提高清洁机器人10移动的准确性和平稳性，并提高限位的可靠性和准确性，适于推广应用。
再一方面，导向部221可以设置在导向顶面224的中部和中部的两侧，使得利用三个导向部221对清洁机器人10的移动进行导向和限位，能够大大提高清洁机器人10移动的准确性和平稳性，提高限位的可靠性和准确性。
可以理解的是，导向部221的数量也可以为一个、两个、三个、四个、五个或满足要求的其他数量个，导向部221的不同数量能够满足导向部221不同结构的需求，同时能够满足导向和限位不同精度的需求，扩大了产品的使用范围。
其中，导向部221可以为导向压块222和导向轮223中的至少一个，如导向部221可以均为导向压块222，或者，导向部221可以均为导向轮223，或者，导向部221可以包括导向压块222和导向轮223，此时，导向部221的数量为至少两个。
在一些实施例中，导向顶面224上设置有位于中间位置处的一个导向部221，导向部221可以为导向压块222或导向轮223。或者，导向顶面224上设置有位于中间位置处两侧的两个导向部221，两个导向部221可以同时为导向压块222或导向轮223，或者一个为导向压块222，另一个为导向轮223。或者，导向顶面224上设置有三个导向部221，其中，包括位于中间位置处的导向压块222或导向轮223，以及位于中间位置处两侧的导向压块222或导向轮223，如中间位置处设置导向压块222，中间位置处的两侧设置导向轮223。
在上述实施例中，导向部221设置在导向顶面224的前端，由于清洁机器人10沿基站20的前后方向移动并停靠在位于前方的基站本体220上，因此，通过将导向部221设置在导向顶面224靠近前方的一侧，有利于对清洁机器人10沿基站20的前后方向移动至基站本体220的停靠点进行导向，降低了清洁机器人10无法成功移动至基站本体220的停靠点的问题，进而提高了清洁机器人10停靠至基站20的准确性和可靠性。
其中，如图13和图14所示，基站本体220还设置有朝向后方的导向侧面225，导向侧面225设置在基板214和导向顶面224之间，在一些实施例中，导向侧面225设置在清洁组件30的上方，导向侧面225包括两个相对的侧表面2251和位于两个侧表面2251之间的中间表面2252，中间表面2252与清洁机器人10向靠近基站20运动的前进方向相对。
在本公开提供的一些可能实现的实施例中，如图1和图11所示，当导向部221包括导向压块222时，导向压块222朝向基板214的一侧设置为第一斜面2221，第一斜面2221由后至前的方向向下倾斜，在清洁机器人10停靠基站20的过程中，清洁机器人10的顶 部与导向压块222的第一斜面2221相接触，并沿着导向压块222的第一斜面2221向靠近基站本体220的方向运动直至到达停靠点。同时，在清洁机器人10到达基站20停靠点时，例如，清洁机器人10停靠基站20之后对其清洁系统150进行清洗，在清洗过程中，基站20的清洁组件30与清洁机器人10的清洁系统150相接触，并对清洁机器人10施加一个竖直向上的推力，导向压块222的设置可以部分或全部抵消该竖直向上的推力，防止清洁机器人10向上运动。
在一些实施例中，如图11和图12所示，为进一步便于清洁机器人10停靠在基站20上，可以在清洁机器人10上侧边缘设置有与导向压块222相适配的转轮180，如图12所示，该转轮180可以沿垂直于基站20的前后方向的轴线转动，这样，当清洁机器人10需要移动至基站20停靠点时，转轮180可以与导向压块222相配合，可以便于清洁机器人10更顺滑地移动至基站20停靠点上。可以理解的是，转轮180可以根据导向压块222的数量和位置对应设置在清洁机器人10上侧边缘。
在一些实施例中，由于清洁机器人10停靠在基站20上进行不同操作时，其姿态可能不同，如当清洁机器人10停靠在基站20上进行充电时，由于第一充电接触极片设置在清洁机器人10的前向部分111，因此，前向部分111靠近基站本体220，即清洁机器人10需要正向前进停靠至基站20上。
当清洁机器人10停靠在基站20上清洁清洁系统150时，清洁系统150可能靠近清洁机器人10的前向部分111设置，或远离前向部分111设置。当清洁系统150靠近清洁机器人10的前向部分111设置时，清洁机器人10可以将前向部分111靠近基站本体220以实现基站20对清洁系统的清洁，即该种状态下，充电和清洁操作时，清洁机器人10相对于基站20的姿态是一样的，即清洁机器人10需要正向前进停靠至基站20上。
当清洁系统150远离前向部分111设置时，可能需要将清洁机器人10的后向部分112靠近基站本体220进行清洁，即该种状态下，充电和清洁操作时，清洁机器人10相对于基站20的姿态是相反的，即清洁机器人10需要反向倒退停靠至基站20上以进行清洁操作。因此，可以在清洁机器人10上侧边缘的不同位置设置多个转轮180，以在清洁机器人10以不同姿态停靠基站20时，转轮180均能够与导向压块222配合，提高停靠效率。
在本公开提供的一些可能实现的实施例中，如图13和图14所示，当导向部221包括导向轮223时，导向轮223沿垂直于基站20的前后方向的轴线转动，即导向轮223沿前后方向往复转动，使得导向轮223能够对清洁机器人10向靠近或远离基站本体220的方向移动进行导向，可以便于清洁机器人10更顺滑地移动至基站20停靠点上。
其中，导向轮223的设置，还可以在清洁机器人10停靠在基站20后限制其在竖直方向的运动。例如，当清洁机器人10停靠在基站20上进行清洗时，基站20的清洁组件30与清洁机器人10的清洁系统150相接触，并对清洁机器人10施加一个竖直向上的推力，导向轮223的设置可以部分或全部抵消该竖直向上的推力，防止清洁机器人10向上运动。
在该实施例中，导向顶面224上设置有安装架226，导向轮223通过转轴227安装在 安装架226上，安装架226和转轴227的设置，使得导向轮223能够可靠、牢固地固定在导向顶面224上，并能够沿垂直于基站20的前后方向绕转轴227转动，其中，转轴227沿垂直于基站20的前后方向布置。
在一些实施例中，安装架226包括相对设置的第一架体2261和第二架体2262，转轴227连接第一架体2261和第二架体2262，即第一架体2261和第二架体2262沿垂直于基站20前后方向间隔分布，导向轮223套设于转轴227并位于第一架体2261和第二架体2262之间，当清洁机器人10向基站20停靠的过程中，导向轮223与清洁机器人10的顶部接触，并沿转轴227转动能够对清洁机器人10向靠近基站本体220的方向移动进行导向，便于清洁机器人10更顺滑地移动至基站20停靠点上。其中，第一架体2261和第二架体2262的设置，有利于提高导向轮223与导向顶面224连接的可靠性和稳定性。
本公开所有实施例均可以单独被执行，也可以与其他实施例相结合被执行，均视为本公开要求的保护范围。
本公开已经通过上述实施例进行了说明，但应当理解的是，上述实施例只是用于举例和说明的目的，而非意在将本公开限制于所描述的实施例范围内。此外本领域技术人员可以理解的是，本公开并不局限于上述实施例，根据本公开的教导还可以做出更多种的变型和修改，这些变型和修改均落在本公开所要求保护的范围以内。本公开的保护范围由附属的权利要求书及其等效范围所界定。

Claims (17)

  1. 一种基站，用于清洁机器人的维护，所述基站包括：
    基站本体和设置有由后至前倾斜向上的斜面部的基站底板；
    其中，所述基站底板包括基板和延长板，所述基板的前端与所述基站本体相衔接，所述基板的后端与所述延长板相连接。
  2. 根据权利要求1所述的基站，其中，
    所述延长板与所述基板枢转连接，所述延长板相对于所述基板包括折叠状态和展开状态。
  3. 根据权利要求2所述的基站，其中，
    所述基板的底部设置有容纳槽，所述延长板处于折叠状态时容置于所述容纳槽内。
  4. 根据权利要求1所述的基站，其中，
    所述延长板和所述基板上分别设置有用于所述清洁机器人行走设备通过的第一防滑部和第二防滑部。
  5. 根据权利要求4所述的基站，其中，
    所述第一防滑部对称设置于所述延长板上，所述第二防滑部对称设置于所述基板上。
  6. 根据权利要求5所述的基站，其中，
    所述基板上设置有避让槽，所述避让槽设置于所述第二防滑部之间，用于在所述清洁机器人通过所述基站底板时容纳部分所述清洁机器人。
  7. 根据权利要求6所述的基站，其中，
    所述避让槽的两侧设置有支撑轮，所述支撑轮用于所述清洁机器人在通过或停靠所述基站底板时支撑所述清洁机器人。
  8. 根据权利要求1所述的基站，其中，
    所述延长板后端设置有用于所述清洁机器人的行走设备通过的凹陷结构。
  9. 根据权利要求8所述的基站，其中，
    所述凹陷结构位于所述延长板后端的中间位置处。
  10. 根据权利要求8所述的基站，其中，
    沿所述凹陷结构的周向设置有第一导向面，所述第一导向面由内向外倾斜设置。
  11. 根据权利要求1所述的基站，其中，
    所述基站本体上设置有位于所述基板上方的用于与所述清洁机器人接触的导向部。
  12. 根据权利要求11所述的基站，其中，
    所述基站本体上设置有与所述基板相对的导向顶面，所述导向部设置于所述导向顶面的中部和/或所述中部的两侧。
  13. 根据权利要求12所述的基站，其中，
    所述导向部设置于所述导向顶面的前端。
  14. 根据权利要求12所述的基站，其中，
    所述导向部包括导向压块，所述导向压块朝向所述基板的一侧设置为第一斜面，所述第一斜面由后至前向下倾斜。
  15. 根据权利要求12所述的基站，其中，
    所述导向部包括导向轮，所述导向轮沿垂直于所述基站的前后方向的轴线转动。
  16. 根据权利要求15所述的基站，其中，
    所述导向顶面上设置有安装架，所述导向轮通过转轴安装至所述安装架。
  17. 一种清洁机器人系统，包括：
    清洁机器人；以及
    如权利要求1至16中任一项所述的基站，所述清洁机器人适于停靠至所述基站上。
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